CN106641572A - Intelligent remote control self-adaption pipe robot - Google Patents

Intelligent remote control self-adaption pipe robot Download PDF

Info

Publication number
CN106641572A
CN106641572A CN201710028481.0A CN201710028481A CN106641572A CN 106641572 A CN106641572 A CN 106641572A CN 201710028481 A CN201710028481 A CN 201710028481A CN 106641572 A CN106641572 A CN 106641572A
Authority
CN
China
Prior art keywords
ears
self
sleeve
housing
spring
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN201710028481.0A
Other languages
Chinese (zh)
Other versions
CN106641572B (en
Inventor
魏鑫磊
于艳玲
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Fujian Julian Construction Technology Co., Ltd
Original Assignee
Wenzhou Vocational and Technical College
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Wenzhou Vocational and Technical College filed Critical Wenzhou Vocational and Technical College
Priority to CN201710028481.0A priority Critical patent/CN106641572B/en
Publication of CN106641572A publication Critical patent/CN106641572A/en
Application granted granted Critical
Publication of CN106641572B publication Critical patent/CN106641572B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16LPIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L55/00Devices or appurtenances for use in, or in connection with, pipes or pipe systems
    • F16L55/26Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
    • F16L55/28Constructional aspects
    • F16L55/30Constructional aspects of the propulsion means, e.g. towed by cables
    • F16L55/32Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16LPIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L2101/00Uses or applications of pigs or moles
    • F16L2101/10Treating the inside of pipes
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16LPIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L2101/00Uses or applications of pigs or moles
    • F16L2101/10Treating the inside of pipes
    • F16L2101/12Cleaning
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16LPIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L2101/00Uses or applications of pigs or moles
    • F16L2101/30Inspecting, measuring or testing

Abstract

The invention provides an intelligent remote control self-adaption pipe robot. The intelligent remote control self-adaption pipe robot comprises a control guide module, an universal transmission module and six self-adaption adjusting bracket modules; the control guide module includes a traction pin shaft, a traction shell, a battery box, a battery set, a conical adaptershell, a circuit board, a speed reducing motor, a speed reducing motor mounting shell, a transmission step shaft, a rolling bearing, a bearing retainer ring and a nylon stopper; the universal transmission module includes a damping spring, an universal joint, a spring pretightening hand wheel, a hand wheel sleeve, a plane thrust bearing, a transmission shaft, a hexahedron sleeve and a conical flange; and each self-adaption adjusting bracket module includes a polyurethane wheel, a deep groove ball bearing, a polyurethane wheel rotating shaft, a double-lug bracket, a double-lug fixed base, two connecting rods, two spring dowel pins, two springs, a positioning pin shaft and a mounting base. The intelligent remote control self-adaption pipe robot can climb in pipes with different diameters, and is simple in structure, excellent in flexibility and high in stability.

Description

A kind of intelligent distant control self-adapting pipe robot
Technical field
The invention belongs to automation equipment field, and in particular to a kind of intelligent distant control self-adapting pipe robot.
Background technology
At present, laser processing technology has been widely used for laser melting coating, welding, heat treatment and the cleaning of inner-walls of duct Deng field, domestic and international Patents and document for the technological means of pipeline processing have one it is common the characteristics of, i.e., laser head from Rotation (focus circumferentially on tube wall move by path) or pipeline spin.These methods have shortcomings, such as:Drive processing The motion of head rotation, and the laser optical path of correspondence design so that processing head overall structure becomes complicated, if allowing pipeline to revolve Turn then workpiece shifting mechanism complexity and be difficult to ensure that pipeline is coaxial with incident beam;Relative movement between above-mentioned focus and pipeline It is uneven that mode also results in the inefficient, processing effect of Laser Processing, and laser spot along the circumferential direction order is mobile exists Circumferential thermal stresses circulation change, the problems such as cause pipeline to deform.
The Chinese invention patent of patent No. ZL201510195584.7《A kind of inner-walls of duct laser Machining head》Disclose one The inner-walls of duct laser Machining head without processing head or pipeline spin is planted, the inner-walls of duct laser Machining head is saturating using multiple cones The combination of mirror, focus lamp and conical mirror, constitutes ring focusing Line beam, without processing head or pipeline spin, you can high Efficiency, high accuracy, the high-quality Laser Processing for completing inner-walls of duct.But when the inner-walls of duct laser Machining head works, need Coordinate with pipe walking mechanism, make processing head advance along pipeline and complete processing.
Research for pipe robot both at home and abroad has had significant progress, and common walking manner mostly is inertia punching Walking, creeping, flexible drive walking or running on wheels etc. are hit, but by comparative study, it is seen that, existing pipe machine The overall structure and driving principle of device people is relative complex;Self adaptation cannot be realized to the pipeline of caliber change;Need external power supply Power is provided, so as to limit motility and the range of movement of mechanism, therefore is difficult to be greatly expanded.
The content of the invention
The present invention is directed to above-mentioned the deficiencies in the prior art, there is provided a kind of pipeline that can adapt to different-diameter, structure letter The good intelligent distant control self-adapting pipe robot of single, motility.
The present invention is achieved through the following technical solutions:
A kind of intelligent distant control self-adapting pipe robot, including control guidance set, Universal drive component and six it is adaptive Carriage assembly should be adjusted;
Control guidance set include traction bearing pin, traction housing, battery case, set of cells, taper switching housing, circuit board, Reducing motor, reducing motor install housing, transmission multidiameter, rolling bearing, end ring and nylon block;The traction housing For robot to be linked together with external process head, the traction to processing head is realized;Peace in the internal cavities of traction housing Equipped with battery case, set of cells is arranged in battery case;One end of the taper switching housing passes through spiral shell with the bottom of traction housing Stricture of vagina is connected, and the other end is installed housing and is connected by screw thread with reducing motor;The taper switching enclosure interior is hollow, Circuit board is installed, the circuit board is connected with set of cells, by battery-powered in cavity;The reducing motor installs housing Hexahedron structure, it is respectively equipped with 3 screwed holes with 3 sides of 120 degree of distributions of angle, adjusts for fixedly mounting self adaptation Whole carriage assembly;Reducing motor is arranged on reducing motor and installs in the internal cavities of housing, and reducing motor is connected with circuit board, by Circuit board is controlled it;One end of transmission multidiameter is connected with the output shaft of reducing motor, and the other end is by axle rank and rolling Dynamic bearing coordinates to be installed, and housing washer is set with end ring inwall, and nylon block is embedded in transmission multidiameter and rolls Between bearing;
Universal drive component includes damping spring, universal joint, spring pre-tightening handwheel, handwheel sleeve, plain thrust bearing, biography Moving axis, hexahedron sleeve and cone-shaped flange;One side connector of the universal joint is connected by bearing pin with transmission multidiameter, opposite side Joint coordinates to install and is connected by bearing pin and power transmission shaft;The first end of the power transmission shaft is provided with through hole, and middle part is provided with step surface, Second end is provided with external screw thread;Symmetrical two local axial plane is provided between step surface and external screw thread;The hexahedron set 3 screwed holes are respectively equipped with 3 sides of 120 degree of distributions of angle on the outer wall of cylinder, for fixedly mounting self-adaptative adjustment Frame component;One side end of hexahedron sleeve is provided with an installing hole matched with the local axial plane size of power transmission shaft;It is hexahedro The opposite side of body sleeve is coordinated with cone-shaped flange by screw thread to be installed;Described power transmission shaft one end is by bearing pin and the side of universal joint Joint coordinates to be installed;In other end insertion hexahedron sleeve, the installing hole coordinates with the local axial plane of power transmission shaft to be installed, and Installing hex nut by step surface and end carries out axial restraint;One end of the damping spring abuts with nylon block, separately One end is abutted spring pre-tightening handwheel and is locked by bolt;The spring pre-tightening handwheel is coordinated with handwheel sleeve by screw thread pacifies Dress, realizes that damping spring pretightning force is adjusted by adjusting spring pre-tightening handwheel and handwheel sleeve relative position;Plain thrust bearing Inner ring is installed with power transmission shaft coaxial cooperation, and outer ring coordinates with handwheel sleeve lining installs.
The self-adaptative adjustment carriage assembly include polyurethane wheel, deep groove ball bearing, polyurethane wheel rotating shaft, ears support, Ears fixed seat, two connecting rods, two spring holders, two springs, alignment pin and mounting seats;The mounting seat is used In fixed self-adaptative adjustment carriage assembly;Three groups in six groups of self-adaptative adjustment carriage assemblys are fixedly mounted on reducing motor installation On three sides of housing, in addition three groups are fixedly mounted on three sides of hexahedron sleeve;The polyurethane wheel, a pair of depths Ditch ball bearing, polyurethane wheel rotating shaft, ears support and ears fixed seat composition wheel set assembly, wherein deep groove ball bearing are a pair, Polyurethane wheel both sides are embedded in respectively, and ears support is arranged in ears fixed seat, and polyurethane wheel is arranged on polyurethane wheel rotating shaft On, the supported on both sides of polyurethane wheel rotating shaft is arranged in the ears structure of ears support both sides;The ears fixed seat includes flat Face base and two crect ears, offer two relative arcuate grooves on flat base, and just right with the screwed hole on ears support, For adjusting the angle of wheel set assembly and being locked by screw bolt and nut;The connecting rod is in I shape, and two ends are provided with Symmetrical ears structure, middle part is square structure, and on the square structure screwed hole is provided with;One end double ear knot of the connecting rod Structure is arranged on the bottom of ears fixed seat by bearing pin, and other end ears structure is arranged in mounting seat by alignment pin; The parallel installation of two connecting rods;First spring holder through mounting seat one end through hole, left and right two ends respectively with two bullets The first end of spring is fixed;Second spring holder is through away from the screwed hole on the connecting rod of first spring holder, left and right Two ends are fixed respectively with the second end of two springs.
The present invention has the advantages that:
1st, intelligent distant control self-adapting pipe robot of the present invention has higher pipeline to pass through performance and stability, can Operation is carried out in certain curvature elbow, tapered pipeline, valve pipe, is deposited when especially can advance in effectively solving small-bore pipeline It is stuck, be difficult to turn, not easily pass through valve member, complex structure, it is heavy the problems such as;Solve existing pipe robot simultaneously Energy resource supply defect, complicated integral structure, self adaptation, automatization and intelligence degree are more low cannot to be realized to tapered pipeline ask Topic.
2nd, intelligent distant control self-adapting pipe robot of the present invention by high-strength spring in Universal drive component and The effect of Double-linkage connecting rod, is suitable for pipe diameter change, and robot is during traveling, it is ensured that polyurethane wheel can be all the time Contact inner-walls of duct.
3rd, intelligent distant control self-adapting pipe robot of the present invention is used as actuating device by universal joint, can make machine People passes through bend, and damping spring plays damping buffering effect to cardan universal joint component, mainly for preventing robot through narrow There is whipping phenomenon during bend, so as to ensure the excellent excessively curved performance of robot and stationarity.
4th, the present invention adopts screw type driving principle, on the premise of machining accuracy and gait of march is ensured, substantially reduces Integrally-built complexity so that robot advances freely in the pipeline of different tube diameters, its caliber adaptive range is little extremely 100mm, greatly to 600mm, and by changing self-adaptative adjustment stent size, is applicable to larger diameter pipeline.
5th, intelligent distant control self-adapting pipe robot of the present invention can also easily load local area network wireless remote control Module, so as to realize that intelligent remote is manipulated and on-line condition monitoring.
Description of the drawings
Fig. 1 is the overall pattern of intelligent distant control self-adapting pipe robot of the present invention;
Fig. 2 is the profile for controlling guidance set;
Fig. 3 is the structure chart for drawing housing;
Fig. 4 is the structure chart of Universal drive component;
Fig. 5 is the structure chart of power transmission shaft;
Fig. 6 is the structure chart of hexahedron sleeve;
Fig. 7 is the structure chart of self-adaptative adjustment carriage assembly;
Fig. 8 is the structure chart of ears support;
Fig. 9 is the structure chart of ears fixed seat;
Figure 10 is the structure chart of connecting rod;
The implication of each label is as follows in figure:
Control guidance set 1, Universal drive component 3, self-adaptative adjustment carriage assembly 2, traction bearing pin 101, traction housing 102nd, battery case 103, set of cells 104, taper switching housing 105, circuit board 106, reducing motor 107, reducing motor mounting shell Body 108, transmission multidiameter 109, rolling bearing 110, end ring 111, nylon block 112, damping spring 301, universal joint 302nd, spring pre-tightening handwheel 303, handwheel sleeve 304, plain thrust bearing 305, power transmission shaft 306, hexahedron sleeve 401, taper Flange 402, through hole 3061, step surface 3062, axial plane 3063, arcuate groove 2051, crect ear 2052, installing hole 4011, double ear knot Structure 2061, square structure 2062.
Specific embodiment
With reference to the accompanying drawings and detailed description the present invention will be further described in detail.
As Figure 1-10 shows, the invention provides a kind of intelligent distant control self-adapting pipe robot, including:Control guiding group Part 1, Universal drive component 3 and six self-adaptative adjustment carriage assemblys 2.
Control guidance set 1 includes traction bearing pin 101, traction housing 102, battery case 103, the switching of set of cells 104, taper Housing 105, circuit board 106, reducing motor 107, reducing motor install housing 108, transmission multidiameter 109, rolling bearing 110, End ring 111 and nylon block 112.
In coniform, inside is cavity to traction housing 102 main body, and top is provided with two symmetrical lugs, two A through hole is provided with lug, the gap for installing external process head connector is provided between two lugs;Towing pin Axle 101 sequentially passes through through hole, the through hole on external process head connector and right side lug on the lug of left side, by robot with it is outer Portion's processing head links together, and realizes the traction to processing head.Battery case 103 is installed in the internal cavities of traction housing 102, Set of cells 104 is arranged in battery case 103.
One end of taper switching housing 105 is connected with the bottom of traction housing 102 by screw thread, the other end and Reducing motor is installed housing 108 and is connected by screw thread.The taper switching inner hollow of housing 105, is provided with cavity Circuit board 106, the circuit board 106 is connected with set of cells 104, is powered by set of cells 104.
It is hexahedron structure that the reducing motor installs housing 108, and it is with 3 sides difference of 120 degree of distributions of angle 3 screwed holes are provided with, for fixedly mounting self-adaptative adjustment carriage assembly 2;Reducing motor 107 is arranged on reducing motor mounting shell In the internal cavities of body 108, reducing motor 107 is connected with circuit board 106, is controlled it by circuit board 106.The circuit Plate 106 is loaded with local area network wireless terminal control module, is capable of achieving the advance of wireless remote control control robot, retreats and advance fast The control of degree.
One end of transmission multidiameter 109 is connected with the output shaft of reducing motor 107, and the other end is by axle rank and rolling bearing 110 coordinate installation, the outer ring of rolling bearing 110 to be set with the inwall of end ring 111, and nylon block 112 is embedded in transmission multidiameter Between 109 and rolling bearing 110.
Universal drive component 3 includes damping spring 301, universal joint 302, spring pre-tightening handwheel 303, handwheel sleeve 304, flat Face thrust bearing 305, power transmission shaft 306, hexahedron sleeve 401 and cone-shaped flange 402.
One side connector of the universal joint 302 is connected by bearing pin with transmission multidiameter 109, and another side connector passes through bearing pin Coordinate to install with power transmission shaft 306 and be connected.
The first end of the power transmission shaft 306 is provided with through hole 3061, and middle part is provided with step surface 3062, and the second end is provided with outer Screw thread;Symmetrical two local axial plane 3063 is provided between step surface 3062 and external screw thread.
3 screwed holes are respectively equipped with 3 sides of 120 degree of distributions of angle on the outer wall of the hexahedron sleeve 401, are used In fixed installation self-adaptative adjustment carriage assembly 2.One side end of hexahedron sleeve 401 is provided with the office of one and power transmission shaft 306 The installing hole 4011 of the size of portion's axial plane 3063 matching.The opposite side of hexahedron sleeve 401 is matched somebody with somebody with cone-shaped flange 402 by screw thread Close and install.
The one end of the power transmission shaft 306 is coordinated by bearing pin with a side connector of universal joint 302 installs;Other end insertion is hexahedro In body sleeve 401, the installing hole 4011 coordinates with the local axial plane 3063 of power transmission shaft 306 to be installed, and by step surface 3062 and end install hex nut 307 carry out axial restraint.
One end of the damping spring 301 abuts with nylon block 112, and the other end abuts spring pre-tightening handwheel 303 and leads to Cross bolt locking;The spring pre-tightening handwheel 303 is coordinated with handwheel sleeve 304 by screw thread to be installed, by adjusting spring pre-tightening Handwheel 303 realizes that the pretightning force of damping spring 307 is adjusted with the relative position of handwheel sleeve 304.The inner ring of plain thrust bearing 305 and biography The coaxial cooperation of moving axis 306 is installed, and outer ring coordinates with the inwall of handwheel sleeve 304 installs.
The self-adaptative adjustment carriage assembly 2 can according to the diameter adjust automatically support angle of pipeline with height, and The upper polyurethane wheel 201 for guaranteeing every pack support is close to inner-walls of duct.The self-adaptative adjustment carriage assembly 2 specifically includes poly- ammonia Ester wheel 201, deep groove ball bearing 202, polyurethane wheel rotating shaft 203, ears support 204,205, two connecting rods 206 of ears fixed seat, Two spring holders 207, two springs 208, alignment pin 210 and mounting seats 211.
The mounting seat 211 is used to fix self-adaptative adjustment carriage assembly 2;In six groups of self-adaptative adjustment carriage assemblys 2 Three groups be fixedly mounted on reducing motor install housing 108 three sides on, in addition three groups are fixedly mounted on hexahedron sleeve On 401 three sides.
The polyurethane wheel 201, a pair of deep groove ball bearings 202, polyurethane wheel rotating shaft 203, ears support 204 and ears are consolidated Reservation 205 constitutes wheel set assembly, and wherein deep groove ball bearing 202 is a pair, and the both sides of polyurethane wheel 201, ears are embedded in respectively Frame 204 is arranged in ears fixed seat 205, and polyurethane wheel 201 is arranged in polyurethane wheel rotating shaft 203, polyurethane wheel rotating shaft 203 Supported on both sides be arranged on the both sides of ears support 204 ears structure on.The ears fixed seat 205 includes flat base and two Individual crect ear 2052, offers two relative arcuate grooves 2051 on flat base, and with ears support 204 on screwed hole just It is right, for adjusting the angle of wheel set assembly and being locked by screw bolt and nut.
The connecting rod 206 is in I shape, and two ends are provided with symmetrical ears structure 2061, and middle part is square structure 2062, institute State and be provided with screwed hole on square structure 2062.One end ears structure 2061 of the connecting rod 206 is arranged on ears by bearing pin The bottom of fixed seat 205, other end ears structure 2061 is arranged in mounting seat 211 by alignment pin 210.Two connecting rods 206 parallel installations.
First spring holder 207 through the one end of mounting seat 211 through hole, left and right two ends respectively with two springs 208 first end is fixed.Second spring holder 207 is through away from the spiral shell on the connecting rod 206 of first spring holder 207 Pit, left and right two ends are fixed respectively with the second end of two springs 208.
The operation principle of above-mentioned intelligent distant control self-adapting pipe robot is:
Reducing motor 107 drives Universal drive component 3 and hexahedron sleeve 401 to rotate, outside hexahedron sleeve 401 The polyurethane wheel 201 of three groups of self-adaptative adjustment carriage assemblys 3 of side is rotated because being close to the frictional force of inner-walls of duct generation, by In the axis of pivot center and the hexahedron sleeve 401 of polyurethane wheel 201 be in an acute angle of inclination, therefore polyurethane wheel 201 and pipe The movement locus of road inwall contact point are the spatially spiral line along conduit axis, so as to force hexahedron sleeve 401 along pipeline Axis is walked;And three groups of guiding polyurethane wheels 201 of the self-adaptative adjustment carriage assembly 3 being arranged on control guidance set 1 Pivot center is mutually perpendicular to the axis of hexahedron sleeve 401, therefore controls guidance set 1 along conduit axis direction with power drive Device advances together or retreats, and plays guide effect, to ensure that robot integrally can smoothly advance in the duct.The pipeline Robot can drag relevant device and the operation such as be detected, cleaned, being repaired to pipeline as haulage gear.
The present invention can change into that various ways are apparent to one skilled in the art, and such change is not considered as Depart from the scope of the present invention.All such technical staff to the field obviously change, and are included within this right Within the scope of requirement.

Claims (2)

1. a kind of intelligent distant control self-adapting pipe robot, it is characterised in that including control guidance set (1), Universal drive group Part (3) and six self-adaptative adjustment carriage assemblys (2);
Control guidance set (1) includes traction bearing pin (101), traction housing (102), battery case (103), set of cells (104), cone Shape switching housing (105), circuit board (106), reducing motor (107), reducing motor install housing (108), transmission multidiameter (109), rolling bearing (110), end ring (111) and nylon block (112);Traction housing (102) is for by machine People links together with external process head, realizes the traction to processing head;Electricity is installed in the internal cavities of traction housing (102) Pond box (103), set of cells (104) is in battery case (103);One end of taper switching housing (105) and traction shell The bottom of body (102) is connected by screw thread, and the other end is installed housing (108) and is connected by screw thread with reducing motor; Taper switching housing (105) inner hollow, is provided with circuit board (106), the circuit board (106) and set of cells in cavity (104) it is connected, is powered by set of cells (104);It is hexahedron structure that the reducing motor installs housing (108), and it is with angle 3 sides of 120 degree of distributions are respectively equipped with 3 screwed holes, for fixedly mounting self-adaptative adjustment carriage assembly (2);Slow down electricity Machine (107) in the internal cavities that reducing motor installs housing (108), reducing motor (107) and circuit board (106) phase Even, controlled it by circuit board (106);One end of transmission multidiameter (109) and the output shaft phase of reducing motor (107) Even, the other end coordinates installation, rolling bearing (110) outer ring and end ring (111) inwall by axle rank and rolling bearing (110) Suit, nylon block (112) is embedded between transmission multidiameter (109) and rolling bearing (110);
Universal drive component (3) includes damping spring (301), universal joint (302), spring pre-tightening handwheel (303), handwheel sleeve (304), plain thrust bearing (305), power transmission shaft (306), hexahedron sleeve (401) and cone-shaped flange (402);The universal joint (302) a side connector is connected by bearing pin with transmission multidiameter (109), and another side connector is by bearing pin and power transmission shaft (306) Coordinate to install and be connected;The first end of the power transmission shaft (306) is provided with through hole (3061), and middle part is provided with step surface (3062), the Two ends are provided with external screw thread;Step surface (3062) is provided with symmetrical two local axial plane (3063) and external screw thread between;Institute State and be respectively equipped with 3 screwed holes with 3 sides of 120 degree of distributions of angle on the outer wall of hexahedron sleeve (401), for fixed peace Dress self-adaptative adjustment carriage assembly (2);One side end of hexahedron sleeve (401) is provided with the local of one and power transmission shaft (306) The installing hole (4011) of axial plane (3063) size matching;The opposite side of hexahedron sleeve (401) passes through with cone-shaped flange (402) Screw thread coordinates to be installed;Described power transmission shaft (306) one end is coordinated by bearing pin with a side connector of universal joint (302) installs;It is another In end insertion hexahedron sleeve (401), the installing hole (4011) coordinates peace with the local axial plane (3063) of power transmission shaft (306) Dress, and axial restraint is carried out by step surface (3062) and end installation hex nut (307);The damping spring (301) One end abuts with nylon block (112), and the other end is abutted spring pre-tightening handwheel (303) and locked by bolt;The spring is pre- Tight handwheel (303) is coordinated with handwheel sleeve (304) by screw thread to be installed, by adjusting spring pre-tightening handwheel (303) and handwheel sleeve Cylinder (304) relative position realizes that damping spring (307) pretightning force is adjusted;Plain thrust bearing (305) inner ring and power transmission shaft (306) Coaxial cooperation is installed, and outer ring coordinates with handwheel sleeve (304) inwall installs.
2. intelligent distant control self-adapting pipe robot according to claim 1, it is characterised in that the self-adaptative adjustment Frame component (2) includes polyurethane wheel (201), deep groove ball bearing (202), polyurethane wheel rotating shaft (203), ears support (204), double Ear fixed seat (205), two connecting rods (206), two spring holders (207), two springs (208), alignment pin (210) and Mounting seat (211);The mounting seat (211) is for fixing self-adaptative adjustment carriage assembly (2);Six groups of self-adaptative adjustments Three groups in frame component (2) are fixedly mounted on reducing motor and install on three sides of housing (108), three groups of fixed installations in addition On three sides of hexahedron sleeve (401);The polyurethane wheel (201), a pair of deep groove ball bearings (202), polyurethane wheels Rotating shaft (203), ears support (204) and ears fixed seat (205) composition wheel set assembly, wherein deep groove ball bearing (202) is one It is right, polyurethane wheel (201) both sides are embedded in respectively, ears support (204) in ears fixed seat (205), polyurethane wheel (201) on polyurethane wheel rotating shaft (203), the supported on both sides of polyurethane wheel rotating shaft (203) is arranged on ears support (204) In the ears structure of both sides;The ears fixed seat (205) includes flat base and two crect ears (2052), opens on flat base Two relative arcuate grooves (2051) are provided with, and it is just right with the screwed hole on ears support (204), for adjusting wheel set assembly Angle is simultaneously locked by screw bolt and nut;In I shape, two ends are provided with symmetrical ears structure to the connecting rod (206) (2061), middle part is square structure (2062), and on the square structure (2062) screwed hole is provided with;The connecting rod (206) One end ears structure (2061) is arranged on the bottom of ears fixed seat (205) by bearing pin, and other end ears structure (2061) leads to Alignment pin (210) is crossed in mounting seat (211);The parallel installation of two connecting rods (206);First spring holder (207) through the through hole of mounting seat (211) one end, left and right two ends are fixed respectively with the first end of two springs (208);Second Individual spring holder (207) is through away from the screwed hole on the connecting rod (206) of first spring holder (207), left and right two ends Fix with the second end of two springs (208) respectively.
CN201710028481.0A 2017-01-13 2017-01-13 A kind of intelligent distant control self-adapting pipe robot Active CN106641572B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201710028481.0A CN106641572B (en) 2017-01-13 2017-01-13 A kind of intelligent distant control self-adapting pipe robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201710028481.0A CN106641572B (en) 2017-01-13 2017-01-13 A kind of intelligent distant control self-adapting pipe robot

Publications (2)

Publication Number Publication Date
CN106641572A true CN106641572A (en) 2017-05-10
CN106641572B CN106641572B (en) 2018-05-29

Family

ID=58844105

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201710028481.0A Active CN106641572B (en) 2017-01-13 2017-01-13 A kind of intelligent distant control self-adapting pipe robot

Country Status (1)

Country Link
CN (1) CN106641572B (en)

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107084297A (en) * 2017-06-23 2017-08-22 江苏科技大学 A kind of flexible self-driven helical pipe robot
CN107389876A (en) * 2017-08-31 2017-11-24 洛阳高昌机电科技有限公司 A kind of building pipe welding point connects flaw detection detent mechanism with spring
CN108150757A (en) * 2017-12-21 2018-06-12 常州大学 A kind of industrial robot of intelligent measurement oil-gas pipeline
CN108480332A (en) * 2018-04-02 2018-09-04 李子宁 A kind of inside blockage-clearing device for hydraulic engineering pipeline
CN110529692A (en) * 2019-09-06 2019-12-03 泰安市诺润嘉环保有限公司 A kind of Multifunctional pipeline robot
CN111207265A (en) * 2020-01-20 2020-05-29 四川大学 Automatic adjust multi-functional wheeled pipeline robot
CN111417299A (en) * 2020-04-13 2020-07-14 温州职业技术学院 Method for manufacturing circuit substrate body

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN202220943U (en) * 2011-08-31 2012-05-16 赵欣驰 Carrying platform for pipeline repairing equipment
CN102661470A (en) * 2012-05-17 2012-09-12 北京邮电大学 Novel crawling pipeline robot
CN204372448U (en) * 2014-12-17 2015-06-03 北京晋科光技术有限公司 Pipeline self adaption magnetic force creepage robot
CN104816086A (en) * 2015-04-17 2015-08-05 温州大学 Pipe inner wall laser machining head
CN105927820A (en) * 2016-07-07 2016-09-07 西南石油大学 Pipeline robot capable of active steering
CN205716232U (en) * 2016-06-06 2016-11-23 西安石油大学 A kind of self adaptation caliber can be turned multi-functional formula petroleum pipeline robot

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN202220943U (en) * 2011-08-31 2012-05-16 赵欣驰 Carrying platform for pipeline repairing equipment
CN102661470A (en) * 2012-05-17 2012-09-12 北京邮电大学 Novel crawling pipeline robot
CN204372448U (en) * 2014-12-17 2015-06-03 北京晋科光技术有限公司 Pipeline self adaption magnetic force creepage robot
CN104816086A (en) * 2015-04-17 2015-08-05 温州大学 Pipe inner wall laser machining head
CN205716232U (en) * 2016-06-06 2016-11-23 西安石油大学 A kind of self adaptation caliber can be turned multi-functional formula petroleum pipeline robot
CN105927820A (en) * 2016-07-07 2016-09-07 西南石油大学 Pipeline robot capable of active steering

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107084297A (en) * 2017-06-23 2017-08-22 江苏科技大学 A kind of flexible self-driven helical pipe robot
CN107389876A (en) * 2017-08-31 2017-11-24 洛阳高昌机电科技有限公司 A kind of building pipe welding point connects flaw detection detent mechanism with spring
CN108150757A (en) * 2017-12-21 2018-06-12 常州大学 A kind of industrial robot of intelligent measurement oil-gas pipeline
CN108480332A (en) * 2018-04-02 2018-09-04 李子宁 A kind of inside blockage-clearing device for hydraulic engineering pipeline
CN110529692A (en) * 2019-09-06 2019-12-03 泰安市诺润嘉环保有限公司 A kind of Multifunctional pipeline robot
CN111207265A (en) * 2020-01-20 2020-05-29 四川大学 Automatic adjust multi-functional wheeled pipeline robot
CN111417299A (en) * 2020-04-13 2020-07-14 温州职业技术学院 Method for manufacturing circuit substrate body

Also Published As

Publication number Publication date
CN106641572B (en) 2018-05-29

Similar Documents

Publication Publication Date Title
JP6470799B2 (en) Wheel electrical motorization system
JP2017159906A (en) System for motorizing wheel connected to suspension device
CN102725561B (en) Full toroidal traction drive
CN102729257B (en) Method and handling system for automated movement of a gravity-compensated load
CN104139265B (en) Elastic track formula pipeline outer wall automatic welding mechanism
CN103867848B (en) A kind of helical driving type pipeline robot
KR101227862B1 (en) Continuously variable transmission
CN106946097A (en) Cable pull self-regulation capstan winch and its control method
CN100518986C (en) Tube-expanding tool
CN106015831A (en) Wheel type pipeline robot with steering of driving wheels being controllable
US20080282821A1 (en) Robot with linearly movable support member attaching to gripper
WO2016106962A1 (en) Cable-strut combination driven parallel robotic palletizer
CN104563917A (en) Multifunctional robot for drilling site
CN100581714C (en) Intersecting line welding robot
CN204913115U (en) Five degrees of freedom welding cutting machine people
CN101479145A (en) A device for lifting at least one wheel of a railbound vehicle
CN106996498B (en) A kind of wheel shoe tandem pipe robot
CN109140112B (en) Pipeline robot and pipeline detection system
CN107097866B (en) Power line operation walking robot and obstacle crossing method thereof
CN102672704A (en) Differential motion driving magnetic adsorption type multifunctional wall climbing robot with small-folding-size mechanical arms
CN105276333B (en) A kind of pipeline internal robot walking
CN103463812A (en) Carbon-free self-propelled trolley with reversing function
CN105539384A (en) Device for automatically replacing power battery of electric automobile
CN103481895B (en) A kind of RGV dolly
CN102699893A (en) Differential driving magnetic attracting multifunctional wall-climbing robot with mechanical arms of multiple degrees of freedom

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant
TR01 Transfer of patent right

Effective date of registration: 20201020

Address after: 350000 5th floor, Hualian Commercial Building, 47 Taijiang Road, Taijiang District, Fuzhou City, Fujian Province

Patentee after: Fujian Julian Construction Technology Co., Ltd

Address before: No.55, group 1, Maidong village, Shaba Township, Qianjiang District, Chongqing

Patentee before: Li Yongxiang

Effective date of registration: 20201020

Address after: No.55, group 1, Maidong village, Shaba Township, Qianjiang District, Chongqing

Patentee after: Li Yongxiang

Address before: 325000 Zhejiang Economic Development Zone, Ouhai, South East Road, No. 38, Wenzhou National University Science Park Incubator

Patentee before: WENZHOU VOCATIONAL & TECHNICAL College

TR01 Transfer of patent right